Vehicular multi-camera vision system

ABSTRACT

A vision system for a vehicle includes a plurality of cameras having respective fields of view exterior of the vehicle. One of the cameras functions as a master camera and others of the cameras function as slave cameras. Responsive to processing of captured image data, the vision system is operable to synthesize a composite image derived from image data captured by at least two of the cameras, at least one of which is a slave camera. Operating parameters of the master camera are used by slave cameras. An electronic control unit sends via Ethernet connection operating parameters to a slave camera so that image sections of the composite image, when displayed to a driver of the vehicle by a display device of the vehicle, appear uniform in at least one of (i) brightness at the borders of the sections and (ii) color at the borders of the sections.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 14/269,788, filed May 5, 2014, now U.S. Pat. No. 9,508,014,which claims the filing benefits of U.S. provisional application Ser.No. 61/819,835, filed May 6, 2013, which is hereby incorporated hereinby reference in its entirety.

FIELD OF THE INVENTION

The present invention relates generally to a vehicle vision system for avehicle and, more particularly, to a vehicle vision system that utilizesone or more cameras at a vehicle.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos.5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporatedherein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a vision system or imaging system for avehicle that utilizes a plurality of cameras (preferably one or moreCMOS cameras) to capture image data representative of images exterior ofthe vehicle, and provides a multi-camera vision system image balancingtechnique that is easier to implement and cost-effective and providesimproved image balancing performance.

The vision system or imaging system of the present invention utilizesmultiple cameras to capture image data representative of images exteriorof the vehicle, and provides the communication/data signals, includingcamera data or captured image data, that may be displayed at a displayscreen that is viewable by the driver of the vehicle, such as when thedriver is parking the vehicle and/or backing up the vehicle, and thatmay be processed and, responsive to such image processing, the systemmay detect an object at or near the vehicle and in the path of travel ofthe vehicle, such as when the vehicle is backing up. The vision systemmay be operable to display a surround view or bird's eye view of theenvironment at or around or at least partially surrounding the subjector equipped vehicle, and the displayed image may include a displayedimage representation of the subject vehicle.

The present invention provides a vision system that selects a camera ofthe plurality of cameras to be a master camera, whereby the operatingparameters determined by or suitable for the images or image datacaptured by the selected master camera are applied to or used by theother cameras or applied to the image data captured by the other camerasof the plurality of cameras. By using one camera's operating parametersfor all of the cameras, image balancing at the junctions of the mergedor stitched images of the surround view displayed image are enhanced.The present invention provides such enhancement while reducing overallcosts of the system, because no control unit image signal processing(ISP) control algorithms are needed, thus avoiding ISP development costand royalty cost.

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle with a vision system thatincorporates cameras in accordance with the present invention;

FIG. 2 is a bird's eye view image showing good and bad image balance atthe border areas;

FIG. 3 is a schematic of a vision system, with the ISP algorithmsrunning in ECU and controlling all cameras through network link;

FIG. 4 is a schematic of a vision system with a master camera, with theother cameras in the system being slave cameras, with one part of theECU acting as a network gateway or controller;

FIG. 5 is a schematic of a vision system with one master camera, withthe other cameras in the system being slave cameras, and with a separatenetwork controller outside of the ECU acting as a network gateway orcontroller, wherein the separated network controller can be a part of adifferent vehicle ECU that already exists; and

FIG. 6 is a schematic of a vision system with one master camera, withthe other cameras in the system being slave cameras, and with the mastercamera acting as a network gateway or controller.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle vision system and/or driver assist system and/or objectdetection system and/or alert system operates to capture images exteriorof the vehicle and may process the captured image data to display imagesand to detect objects at or near the vehicle and in the predicted pathof the vehicle, such as to assist a driver of the vehicle in maneuveringthe vehicle in a rearward direction. The vision system includes an imageprocessor or image processing system that is operable to receive imagedata from one or more cameras and provide an output to a display devicefor displaying images representative of the captured image data.Optionally, the vision system may provide a top down or bird's eye orsurround view display and may provide a displayed image that isrepresentative of the subject vehicle, and optionally with the displayedimage being customized to at least partially correspond to the actualsubject vehicle.

Referring now to the drawings and the illustrative embodiments depictedtherein, a vehicle 10 includes an imaging system or vision system 12that includes at least one exterior facing imaging sensor or camera,such as a rearward facing imaging sensor or camera 14 a (and the systemmay optionally include multiple exterior facing imaging sensors orcameras, such as a forwardly facing camera 14 b at the front (or at thewindshield) of the vehicle, and a sidewardly/rearwardly facing camera 14c, 14 d at respective sides of the vehicle, such as at or in respectiveexterior rearview mirror assemblies at the sides of the vehicle), whichcaptures images exterior of the vehicle, with the camera having a lensfor focusing images at or onto an imaging array or imaging plane orimager of the camera (FIG. 1). The vision system 12 includes a controlor electronic control unit (ECU) or processor 18 that is operable toprocess image data captured by the cameras and may provide displayedimages at a display device 16 for viewing by the driver of the vehicle(although shown in FIG. 1 as being part of or incorporated in or at aninterior rearview mirror assembly 20 of the vehicle, the control and/orthe display device may be disposed elsewhere at or in the vehicle). Thedata transfer or signal communication from the camera to the ECU maycomprise any suitable data or communication link, such as a vehiclenetwork bus or the like of the equipped vehicle.

In a multi-camera surround view system, the sections of abird's-eye-view (BEV) image derived from image data captured by multiplecameras may appear to have different brightness and color (such asdescribed, for example, in U.S. Pat. No. 7,714,887, which is herebyincorporated herein by reference in its entirety). The current techniqueto balancing the BEV image to deliver generally uniform brightness andcolor at the section border areas involves the surround view controlunit (such as an electronic control unit or ECU) controlling cameraexposure and color parameters of all cameras through the networkconnections to the cameras. This technique requires image signalprocessing (ISP) algorithms running in the ECU (see, for example, FIG.3). Normally, ISP algorithms are tied tightly with the imager sensor andrun on a processor in the same silicon die of the imager, or in acompanion chip placed next to the image sensor inside the camera. In theECU, the ISP algorithms may run on a different type of processor (suchas, for example, a field programmable gate array (FPGA) or an ARM coreor any other suitable type of microprocessor). It takes extra softwaredevelopment effort to port the imager ISP algorithms from the imager ISPprocessor to the ECU processor, and involves paying royalty of ISP tothe imager ISP provider. For the ECU supplier, development of ahome-grown ISP core in the ECU processor, without the detailed knowledgeof the image sensor and ISP algorithms, the performance of the ISP maynot be as good as the imager ISP. A reason for this is that the imagerISP involves with complex control mechanisms, and the access of intimateknowledge of imager registers and performance tuning skills.

The present invention involves using existing ISP of one of the camerasto control the rest of the cameras of the vision system. One of thecameras is configured as the “master” camera, and the rest of thecameras are configured as “slave” cameras. The master camera's ISPimager control commands are sent or communicated over network links toall the slave cameras for slave ISP controls. As a result, all of thecameras will have a balanced BEV image. With this technique, no ECU ISPcontrol algorithms are needed, thus avoiding ISP development cost androyalty cost, while enhancing or optimizing the ISP performance and BEVimage balancing performance.

The goal of BEV image balancing is to make the image sections fromdifferent cameras appear uniform in brightness and color at the bordersof the sections. FIG. 2 shows an example of a BEV image that has goodimage balance (such as at the rear right corner of the vehicle) and badimage balance (such as at the left front corner of the vehicle) at theborder areas.

In accordance with the present invention, an alternative technique isproposed and implemented, which involves a master-slave cameraconfiguration. An ISP is running in the master camera which determinesproper parameters that control camera performances, such as, forexample, brightness, color, dynamic range, and/or the like. All of theslave cameras are controlled by the ISP algorithms of the master camera.By being controlled with a single ISP, all of the cameras have the sameimage performances, which include brightness, color, dynamic range,and/or the like, if they are facing the same scene. At the BEV cameradivider border areas, the image brightness and color uniformity aresubstantially or generally maintained.

This technique can be applied to two or more cameras that are used in amulti-camera surround view system or similar systems. The multi-camerasystem may be in a vehicle to assist driver parking or to provide asecurity monitoring system that involves multiple cameras installed atmultiple angles and locations, and that may provide composite image(comprising portions of images captured by multiple cameras), such as acontinuous/seamless and stitched view image having images captured bythe multiple cameras stitched together in a generally or substantiallyseamless manner (such as described in U.S. Pat. No. 7,859,565, which ishereby incorporated herein by reference in its entirety). With such avision system, all of the vehicle cameras are connected or linkedthrough a network connection. The network connection may comprise avehicle CAN bus, LIN bus, Ethernet bus, wireless networks, UARTconnection or other types of suitable network links. The topologies ofthe network connection may comprise star, daisy chain, or other suitabletopologies. For the network connection between the cameras, there is anetwork hub or switch or gateway that routes the camera ISP controlcommands from the master camera to the slave cameras. With the daisychain topology, there are distributed network gateways at each cameranode. The hub/switch/gateway may be a part of the multi-camera ECU, apart of a separate and existing ECU in vehicle, a separate networkcontroller, or inside the master camera, or other means. Theseconfigurations are depicted in FIGS. 4-6.

The camera ISP control may be in the form of writing registers to theimager/camera (such as a CMOS photosensor array of photosensing elementsor pixels), sending commands to the imager, or other suitable means. Asan example of master-slave control technique, the master is running inits normal mode (in other words, with automatic exposure control, gaincontrol and white balance/color control modes), while the slave camerasare running with all above mentioned auto controls turned off. Themicroprocessor inside the hub/switch/gateway reads all relevant controlregisters from the master camera and sends them over network connectionand writes these registers to the imagers or circuitry inside the slavecameras with fast enough speed. The master camera controls the slavecameras in real time with the same set of imager control parameters, andthus all of the cameras produce the same image performances in terms ofexposure/gain, color, dynamic range, and/or the like. For a multi-camerasystem that employs these cameras, a uniformly bordered or continuousbrightness and color BEV image can be reached.

The master camera may be any one of the multiple cameras of the visionsystem, and the system or user may select which camera acts as themaster camera for a given application. Depending on the viewing mode ofthe multi-camera system, the network controller can assign any one ofthe cameras as the master and the rest of cameras as slaves. Forexample, with a viewing mode that includes a BEV image and an imagecaptured by the rear view camera, the rear view camera may be selectedas the master camera. In another example, with a viewing mode thatincludes a BEV image and an image captured by a front view camera, thefront view camera may be selected as the master camera. When the ECUmakes a viewing mode change, selection of master and slave decision maybe made by the ECU and the configuration commands may be sent to all ofthe cameras to re-configure them to suitable master and slave modes.

The multi-camera vision system includes two or more cameras, such as arearward viewing camera and a driver side sideward viewing camera and apassenger side sideward viewing camera, whereby the system maysynthesize a composite image derived from image data captured by atleast two of the cameras. Optionally, the vision system may utilize aforward viewing camera and the rearward viewing camera and the sidewardviewing cameras disposed at the vehicle with exterior fields of view,and may be part of or may provide a display of a top-down view or bird'seye view system of the vehicle or a surround view at the vehicle, suchas by utilizing aspects of the vision systems described in InternationalPublication Nos. WO 2010/099416; WO 2011/028686; WO 2012/075250; WO2013/019795; WO 2012/075250; WO 2012/145822; WO 2013/081985; WO2013/086249 and/or WO 2013/109869, and/or U.S. patent application Ser.No. 13/333,337, filed Dec. 21, 2011, now U.S. Pat. No. 9,264,672, whichare hereby incorporated herein by reference in their entireties.

The camera or sensor may comprise any suitable camera or sensor.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inInternational Publication Nos. WO 2013/081984 and/or WO 2013/081985,which are hereby incorporated herein by reference in their entireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise anEyeQ2 or EyeQ3 image processing chip available from Mobileye VisionTechnologies Ltd. of Jerusalem, Israel, and may include object detectionsoftware (such as the types described in U.S. Pat. Nos. 7,855,755;7,720,580 and/or 7,038,577, which are hereby incorporated herein byreference in their entireties), and may analyze image data to detectvehicles and/or other objects. Responsive to such image processing, andwhen an object or other vehicle is detected, the system may generate analert to the driver of the vehicle and/or may generate an overlay at thedisplayed image to highlight or enhance display of the detected objector vehicle, in order to enhance the driver's awareness of the detectedobject or vehicle or hazardous condition during a driving maneuver ofthe equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ladar sensors or ultrasonicsensors or the like. The imaging sensor or camera may capture image datafor image processing and may comprise any suitable camera or sensingdevice, such as, for example, a two dimensional array of a plurality ofphotosensor elements arranged in at least 640 columns and 480 rows (atleast a 640×480 imaging array, such as a megapixel imaging array or thelike), with a respective lens focusing images onto respective portionsof the array. The photosensor array may comprise a plurality ofphotosensor elements arranged in a photosensor array having rows andcolumns. Preferably, the imaging array has at least 300,000 photosensorelements or pixels, more preferably at least 500,000 photosensorelements or pixels and more preferably at least 1 million photosensorelements or pixels. The imaging array may capture color image data, suchas via spectral filtering at the array, such as via an RGB (red, greenand blue) filter or via a red/red complement filter or such as via anRCC (red, clear, clear) filter or the like. The logic and controlcircuit of the imaging sensor may function in any known manner, and theimage processing and algorithmic processing may comprise any suitablemeans for processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/orcircuitry may utilize aspects described in U.S. Pat. Nos. 7,005,974;5,760,962; 5,877,897; 5,796,094; 5,949,331; 6,222,447; 6,302,545;6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268;6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563;6,946,978; 7,859,565; 5,550,677; 5,670,935; 6,636,258; 7,145,519;7,161,616; 7,230,640; 7,248,283; 7,295,229; 7,301,466; 7,592,928;7,881,496; 7,720,580; 7,038,577; 6,882,287; 5,929,786 and/or 5,786,772,and/or International Publication Nos. 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No. 61/836,380, filed Jun. 18, 2013; Ser. No. 61/833,080,filed Jun. 10, 2013; Ser. No. 61/830,375, filed Jun. 3, 2013; Ser. No.61/830,377, filed Jun. 3, 2013; Ser. No. 61/825,752, filed May 21, 2013;Ser. No. 61/825,753, filed May 21, 2013; Ser. No. 61/823,648, filed May15, 2013; Ser. No. 61/823,644, filed May 15, 2013; Ser. No. 61/821,922,filed May 10, 2013; Ser. No. 61/819,033, filed May 3, 2013; Ser. No.61/816,956, filed Apr. 29, 2013; Ser. No. 61/815,044, filed Apr. 23,2013; Ser. No. 61/814,533, filed Apr. 22, 2013; Ser. No. 61/813,361,filed Apr. 18, 2013; and/or Ser. No. 61/810,407, filed Apr. 10, 2013,which are all hereby incorporated herein by reference in theirentireties. The system may communicate with other communication systemsvia any suitable means, such as by utilizing aspects of the systemsdescribed in International Publication Nos. WO/2010/144900; WO2013/043661 and/or WO 2013/081985, and/or U.S. patent application Ser.No. 13/202,005, filed Aug. 17, 2011, now U.S. Pat. No. 9,126,525, whichare hereby incorporated herein by reference in their entireties.

The imaging device and control and image processor and any associatedillumination source, if applicable, may comprise any suitablecomponents, and may utilize aspects of the cameras and vision systemsdescribed in U.S. Pat. Nos. 5,550,677; 5,877,897; 6,498,620; 5,670,935;5,796,094; 6,396,397; 6,806,452; 6,690,268; 7,005,974; 7,937,667;7,123,168; 7,004,606; 6,946,978; 7,038,577; 6,353,392; 6,320,176;6,313,454 and/or 6,824,281, and/or International Publication Nos. WO2010/099416; WO 2011/028686 and/or WO 2013/016409, and/or U.S. Pat.Publication No. US 2010-0020170, and/or U.S. patent application Ser. No.13/534,657, filed Jun. 27, 2012 and published Jan. 3, 2013 as U.S.Publication No. US-2013-0002873, which are all hereby incorporatedherein by reference in their entireties. The camera or cameras maycomprise any suitable cameras or imaging sensors or camera modules, andmay utilize aspects of the cameras or sensors described in U.S.Publication No. US-2009-0244361 and/or U.S. patent application Ser. No.13/260,400, filed Sep. 26, 2011, now U.S. Pat. No. 8,542,451, and/orU.S. Pat. Nos. 7,965,336 and/or 7,480,149, which are hereby incorporatedherein by reference in their entireties. The imaging array sensor maycomprise any suitable sensor, and may utilize various imaging sensors orimaging array sensors or cameras or the like, such as a CMOS imagingarray sensor, a CCD sensor or other sensors or the like, such as thetypes described in U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962;5,715,093; 5,877,897; 6,922,292; 6,757,109; 6,717,610; 6,590,719;6,201,642; 6,498,620; 5,796,094; 6,097,023; 6,320,176; 6,559,435;6,831,261; 6,806,452; 6,396,397; 6,822,563; 6,946,978; 7,339,149;7,038,577; 7,004,606; 7,720,580 and/or 7,965,336, and/or InternationalPublication Nos. WO/2009/036176 and/or WO/2009/046268, which are allhereby incorporated herein by reference in their entireties.

The camera module and circuit chip or board and imaging sensor may beimplemented and operated in connection with various vehicularvision-based systems, and/or may be operable utilizing the principles ofsuch other vehicular systems, such as a vehicle headlamp control system,such as the type disclosed in U.S. Pat. Nos. 5,796,094; 6,097,023;6,320,176; 6,559,435; 6,831,261; 7,004,606; 7,339,149 and/or 7,526,103,which are all hereby incorporated herein by reference in theirentireties, a rain sensor, such as the types disclosed in commonlyassigned U.S. Pat. Nos. 6,353,392; 6,313,454; 6,320,176 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties, a vehicle vision system, such as a forwardly, sidewardly orrearwardly directed vehicle vision system utilizing principles disclosedin U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,877,897; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978 and/or 7,859,565, which are all herebyincorporated herein by reference in their entireties, a trailer hitchingaid or tow check system, such as the type disclosed in U.S. Pat. No.7,005,974, which is hereby incorporated herein by reference in itsentirety, a reverse or sideward imaging system, such as for a lanechange assistance system or lane departure warning system or for a blindspot or object detection system, such as imaging or detection systems ofthe types disclosed in U.S. Pat. Nos. 7,881,496; 7,720,580; 7,038,577;5,929,786 and/or 5,786,772, and/or U.S. provisional applications, Ser.No. 60/628,709, filed Nov. 17, 2004; Ser. No. 60/614,644, filed Sep. 30,2004; Ser. No. 60/618,686, filed Oct. 14, 2004; Ser. No. 60/638,687,filed Dec. 23, 2004, which are hereby incorporated herein by referencein their entireties, a video device for internal cabin surveillanceand/or video telephone function, such as disclosed in U.S. Pat. Nos.5,760,962; 5,877,897; 6,690,268 and/or 7,370,983, and/or U.S.Publication No. US-2006-0050018, which are hereby incorporated herein byreference in their entireties, a traffic sign recognition system, asystem for determining a distance to a leading or trailing vehicle orobject, such as a system utilizing the principles disclosed in U.S. Pat.Nos. 6,396,397 and/or 7,123,168, which are hereby incorporated herein byreference in their entireties, and/or the like.

Optionally, the circuit board or chip may include circuitry for theimaging array sensor and or other electronic accessories or features,such as by utilizing compass-on-a-chip or EC driver-on-a-chip technologyand aspects such as described in U.S. Pat. No. 7,255,451 and/or U.S.Pat. No. 7,480,149; and/or U.S. Publication No. US-2006-0061008 and/orU.S. patent application Ser. No. 12/578,732, filed Oct. 14, 2009, nowU.S. Pat. No. 9,487,144, which are hereby incorporated herein byreference in their entireties.

Optionally, the vision system may include a display for displayingimages captured by one or more of the imaging sensors for viewing by thedriver of the vehicle while the driver is normally operating thevehicle. Optionally, for example, the vision system may include a videodisplay device disposed at or in the interior rearview mirror assemblyof the vehicle, such as by utilizing aspects of the video mirror displaysystems described in U.S. Pat. No. 6,690,268 and/or U.S. patentapplication Ser. No. 13/333,337, filed Dec. 21, 2011, now U.S. Pat. No.9,264,672, which are hereby incorporated herein by reference in theirentireties. The video mirror display may comprise any suitable devicesand systems and optionally may utilize aspects of the compass displaysystems described in U.S. Pat. Nos. 7,370,983; 7,329,013; 7,308,341;7,289,037; 7,249,860; 7,004,593; 4,546,551; 5,699,044; 4,953,305;5,576,687; 5,632,092; 5,677,851; 5,708,410; 5,737,226; 5,802,727;5,878,370; 6,087,953; 6,173,508; 6,222,460; 6,513,252 and/or 6,642,851,and/or European patent application, published Oct. 11, 2000 underPublication No. EP 0 1043566, and/or U.S. Publication No.US-2006-0061008, which are all hereby incorporated herein by referencein their entireties. Optionally, the video mirror display screen ordevice may be operable to display images captured by a rearward viewingcamera of the vehicle during a reversing maneuver of the vehicle (suchas responsive to the vehicle gear actuator being placed in a reversegear position or the like) to assist the driver in backing up thevehicle, and optionally may be operable to display the compass headingor directional heading character or icon when the vehicle is notundertaking a reversing maneuver, such as when the vehicle is beingdriven in a forward direction along a road (such as by utilizing aspectsof the display system described in International Publication No. WO2012/051500, which is hereby incorporated herein by reference in itsentirety).

Optionally, a video mirror display may be disposed rearward of andbehind the reflective element assembly and may comprise a display suchas the types disclosed in U.S. Pat. Nos. 5,530,240; 6,329,925;7,855,755; 7,626,749; 7,581,859; 7,446,650; 7,370,983; 7,338,177;7,274,501; 7,255,451; 7,195,381; 7,184,190; 5,668,663; 5,724,187 and/or6,690,268, and/or in U.S. Publication Nos. US-2006-0061008 and/orUS-2006-0050018, which are all hereby incorporated herein by referencein their entireties. The display is viewable through the reflectiveelement when the display is activated to display information. Thedisplay element may be any type of display element, such as a vacuumfluorescent (VF) display element, a light emitting diode (LED) displayelement, such as an organic light emitting diode (OLED) or an inorganiclight emitting diode, an electroluminescent (EL) display element, aliquid crystal display (LCD) element, a video screen display element orbacklit thin film transistor (TFT) display element or the like, and maybe operable to display various information (as discrete characters,icons or the like, or in a multi-pixel manner) to the driver of thevehicle, such as passenger side inflatable restraint (PSIR) information,tire pressure status, and/or the like. The mirror assembly and/ordisplay may utilize aspects described in U.S. Pat. Nos. 7,184,190;7,255,451; 7,446,924 and/or 7,338,177, which are all hereby incorporatedherein by reference in their entireties. The thicknesses and materialsof the coatings on the substrates of the reflective element may beselected to provide a desired color or tint to the mirror reflectiveelement, such as a blue colored reflector, such as is known in the artand such as described in U.S. Pat. Nos. 5,910,854; 6,420,036 and/or7,274,501, which are hereby incorporated herein by reference in theirentireties.

Optionally, the display or displays and any associated user inputs maybe associated with various accessories or systems, such as, for example,a tire pressure monitoring system or a passenger air bag status or agarage door opening system or a telematics system or any other accessoryor system of the mirror assembly or of the vehicle or of an accessorymodule or console of the vehicle, such as an accessory module or consoleof the types described in U.S. Pat. Nos. 7,289,037; 6,877,888;6,824,281; 6,690,268; 6,672,744; 6,386,742 and 6,124,886, and/or U.S.Publication No. US-2006-0050018, which are hereby incorporated herein byreference in their entireties.

Changes and modifications in the specifically described embodiments canbe carried out without departing from the principles of the invention,which is intended to be limited only by the scope of the appendedclaims, as interpreted according to the principles of patent lawincluding the doctrine of equivalents.

1. A vision system for a vehicle, said vision system comprising: aplurality of cameras disposed at a vehicle and having respective fieldsof view exterior of the vehicle; wherein said plurality of camerascomprises a forward viewing camera having at least a forward field ofview forward of the vehicle, a rearward viewing camera having at least arearward field of view rearward of the vehicle, a driver-side sidewardviewing camera having at least a sideward field of view at the driverside of the vehicle and a passenger-side sideward viewing camera havingat least a sideward field of view at the passenger side of the vehicle;wherein one of said plurality of cameras functions as a master cameraand other cameras of said plurality of cameras function as slavecameras; an image processing system operable to process image datacaptured by said plurality of cameras; wherein, responsive to processingof captured image data, said vision system is operable to synthesize acomposite image derived from image data captured by at least two camerasof said plurality of cameras; wherein at least one of said at least twocameras comprises a slave camera; wherein operating parameters of themaster camera are used by slave cameras of said plurality of cameras;wherein operating parameters of the master camera comprise at least oneof (i) white balance and (ii) color control; wherein each of saidplurality of cameras receives and sends signals via an Ethernetconnection to an electronic control unit; wherein operating parametersof the master camera are carried via Ethernet connection between themaster camera and the electronic control unit; and wherein theelectronic control unit sends via Ethernet connection operatingparameters carried via Ethernet connection between the master camera andthe electronic control unit to said at least one of said at least twocameras that comprises a slave camera so that image sections of thecomposite image, when displayed to a driver of the vehicle by a displaydevice of the vehicle, appear uniform in at least one of (i) brightnessat the borders of the sections and (ii) color at the borders of thesections.
 2. The vision system of claim 1, wherein operating parametersof the master camera comprise at least one of (i) exposure control and(ii) gain control.
 3. The vision system of claim 1, wherein said visionsystem selects which camera of said plurality of cameras to function asthe master camera responsive to a driving maneuver of the vehicle. 4.The vision system of claim 1, wherein the composite image comprises abird's eye view image derived from image data captured by at least therearward viewing camera, the driver-side sideward viewing camera and thepassenger-side sideward viewing camera.
 5. The vision system of claim 1,wherein any one of said plurality of cameras is capable of operating asthe master camera.
 6. The vision system of claim 1, wherein operatingparameters of the master camera are sent by the electronic control unitto the slave cameras so the slave cameras operate with the same set ofoperating parameters as used by the master camera.
 7. The vision systemof claim 1, wherein the master camera comprises the forward viewingcamera having at least a forward field of view forward of the vehicle.8. The vision system of claim 1, wherein the master camera comprises therearward viewing camera having at least a rearward field of viewrearward of the vehicle.
 9. The vision system of claim 1, wherein, whenthe electronic control unit makes a viewing mode change, selection ofwhich of said plurality of cameras comprises the master camera is madeby the electronic control unit.
 10. The vision system of claim 9,wherein configuration commands are sent to said plurality of cameras tore-configure them to suitable master and slave modes.
 11. The visionsystem of claim 1, wherein one of said at least two cameras comprisesthe master camera.
 12. The vision system of claim 1, wherein two of saidat least two cameras each comprises a slave camera.
 13. The visionsystem of claim 1, wherein the electronic control unit sends viaEthernet connection operating parameters carried via Ethernet connectionbetween the master camera and the electronic control unit to said atleast one of said at least two cameras that comprises a slave camera sothat image sections of the composite image, when displayed to a driverof the vehicle by a display device of the vehicle, appear uniform inbrightness at the borders of the sections.
 14. The vision system ofclaim 1, wherein the electronic control unit sends via Ethernetconnection operating parameters carried via Ethernet connection betweenthe master camera and the electronic control unit to said at least oneof said at least two cameras that comprises a slave camera so that imagesections of the composite image, when displayed to a driver of thevehicle by a display device of the vehicle, appear uniform in a color atthe borders of the sections.
 15. A vision system for a vehicle, saidvision system comprising: a plurality of cameras disposed at a vehicleand having respective fields of view exterior of the vehicle; whereinsaid plurality of cameras comprises a forward viewing camera having atleast a forward field of view forward of the vehicle, a rearward viewingcamera having at least a rearward field of view rearward of the vehicle,a driver-side sideward viewing camera having at least a sideward fieldof view at the driver side of the vehicle and a passenger-side sidewardviewing camera having at least a sideward field of view at the passengerside of the vehicle; wherein one of said plurality of cameras functionsas a master camera and other cameras of said plurality of camerasfunction as slave cameras; an image processing system operable toprocess image data captured by said plurality of cameras; wherein,responsive to processing of captured image data, said vision system isoperable to synthesize a composite image derived from image datacaptured by at least three cameras of said plurality of cameras; whereinat least two of said at least three cameras each comprises a slavecamera; wherein one of said at least three cameras comprises therearward viewing camera having at least a rearward field of viewrearward of the vehicle; wherein the composite image comprises a bird'seye view image; wherein operating parameters of the master camera areused by slave cameras of said plurality of cameras; wherein each of saidplurality of cameras receives and sends signals via an Ethernetconnection to an electronic control unit; wherein operating parametersof the master camera are carried via Ethernet connection between themaster camera and the electronic control unit; and wherein theelectronic control unit sends via Ethernet connection operatingparameters carried via Ethernet connection between the master camera andthe electronic control unit to said at least two of said at least threecameras that each comprises a slave camera so that image sections of thecomposite image, when displayed to a driver of the vehicle by a displaydevice of the vehicle, appear uniform at the borders of the sections.16. The vision system of claim 15, wherein operating parameters of themaster camera comprise at least one of (i) exposure control and (ii)gain control.
 17. The vision system of claim 16, wherein selection ofwhich of said plurality of cameras comprises the master camera is madeby the electronic control unit.
 18. The vision system of claim 17,wherein configuration commands are sent to said plurality of cameras tore-configure them to suitable master and slave modes.
 19. The visionsystem of claim 15, wherein one of said at least three cameras comprisesthe master camera.
 20. The vision system of claim 19, wherein therearward viewing camera having at least a rearward field of viewrearward of the vehicle comprises the master camera.
 21. The visionsystem of claim 15, wherein three of said at least three cameras eachcomprises a slave camera.
 22. The vision system of claim 15, whereinoperating parameters of the master camera comprise color control. 23.The vision system of claim 22, wherein operating parameters of themaster camera comprise white balance.
 24. The vision system of claim 15,wherein the electronic control unit sends via Ethernet connectionoperating parameters carried via Ethernet connection between the mastercamera and the electronic control unit to said at least two of said atleast three cameras that each comprises a slave camera so that imagesections of the composite image, when displayed to a driver of thevehicle by a display device of the vehicle, appear uniform in brightnessat the borders of the sections.
 25. The vision system of claim 24,wherein the electronic control unit sends via Ethernet connectionoperating parameters carried via Ethernet connection between the mastercamera and the electronic control unit to said at least two of said atleast three cameras that each comprises a slave camera so that imagesections of the composite image, when displayed to a driver of thevehicle by a display device of the vehicle, appear uniform in color atthe borders of the sections.
 26. A vision system for a vehicle, saidvision system comprising: a plurality of cameras disposed at a vehicleand having respective fields of view exterior of the vehicle; whereinsaid plurality of cameras comprises a forward viewing camera having atleast a forward field of view forward of the vehicle, a rearward viewingcamera having at least a rearward field of view rearward of the vehicle,a driver-side sideward viewing camera having at least a sideward fieldof view at the driver side of the vehicle and a passenger-side sidewardviewing camera having at least a sideward field of view at the passengerside of the vehicle; wherein one of said plurality of cameras functionsas a master camera and other cameras of said plurality of camerasfunction as slave cameras; an image processing system operable toprocess image data captured by said plurality of cameras; wherein,responsive to processing of captured image data, said vision system isoperable to synthesize a composite image derived from image datacaptured by said plurality of cameras; wherein said driver-side sidewardviewing camera comprises a slave camera; wherein said passenger-sidesideward viewing camera comprises a slave camera; wherein the compositeimage comprises a bird's eye view image; wherein operating parameters ofthe master camera are used by said driver-side sideward viewing camera;wherein operating parameters of the master camera are used by saidpassenger-side sideward viewing camera; wherein each of said pluralityof cameras receives and sends signals via an Ethernet connection to anelectronic control unit; wherein operating parameters of the mastercamera are carried via Ethernet connection between the master camera andthe electronic control unit; wherein the electronic control unit sendsvia Ethernet connection operating parameters carried via Ethernetconnection between the master camera and the electronic control unit tosaid driver-side sideward viewing camera and to said passenger-sidesideward viewing camera so that image sections of the composite image,when displayed to a driver of the vehicle by a display device of thevehicle, appear uniform at the borders of the sections; and wherein themaster camera comprises one of (i) the forward viewing camera having atleast a forward field of view forward of the vehicle and (ii) therearward viewing camera having at least a rearward field of viewrearward of the vehicle.
 27. The vision system of claim 26, whereinoperating parameters of the master camera comprise exposure control andgain control.
 28. The vision system of claim 27, wherein said visionsystem selects which camera of said plurality of cameras to function asthe master camera responsive to a driving maneuver of the vehicle. 29.The vision system of claim 27, wherein the master camera comprises theforward viewing camera having at least a forward field of view forwardof the vehicle.
 30. The vision system of claim 27, wherein the mastercamera comprises the rearward viewing camera having at least a rearwardfield of view rearward of the vehicle.
 31. The vision system of claim26, wherein configuration commands are sent to said plurality of camerasto re-configure them to suitable master and slave modes.
 32. The visionsystem of claim 26, wherein operating parameters of the master cameracomprise at least one of (i) white balance and (ii) color control. 33.The vision system of claim 26, wherein the electronic control unit sendsvia Ethernet connection operating parameters carried via Ethernetconnection between the master camera and the electronic control unit tosaid driver-side sideward viewing camera and to said passenger-sidesideward viewing camera so that image sections of the composite image,when displayed to a driver of the vehicle by a display device of thevehicle, appear uniform in color at the borders of the sections.
 34. Thevision system of claim 33, wherein the electronic control unit sends viaEthernet connection operating parameters carried via Ethernet connectionbetween the master camera and the electronic control unit to saiddriver-side sideward viewing camera and to said passenger-side sidewardviewing camera so that image sections of the composite image, whendisplayed to a driver of the vehicle by a display device of the vehicle,appear uniform in brightness at the borders of the sections.